Desarrollo de una Interfaz de sustitución sensorial para el estudio de la percepción del flujo vibrotáctil (retina táctil)

En el presente trabajo fin de máster se ha concebido, diseñado e utilizado una interfaz háptica, adecuada para ser utilizada como dispositivo de sustitución sensorial, la cual hemos llamado retina táctil. Por cuanto trata de proporcionar información propia del sentido de la vista a través del sentido del tacto. Durante este trabajo, que fue desarrollado en el grupo de robótica y cibernética CAR UPM-CSIC, se ha trabajado en estrecha colaboración con el departamento de la facultad de psicología de la universidad autónoma de Madrid, los cuales han definido las bases de la información de alto orden, como podrían ser, gradientes de intensidades de vibración, mediante las cuales el individuo llega a tener una mejor comprensión del ambiente. El proyecto maneja teorías psicológicas recientes, como las teorías ecológicas y dinámicas que entienden que la percepción se basa en variables informacionales de alto orden. Ejemplos de tales variables son el flujo óptico, gradientes de movimiento, gradientes de intensidades, cambios en gradientes, etc. Sorprendentemente, nuestra percepción visual es mucho más sensible a variables de alto orden que a variables de bajo orden, lo cual descarta que variables de alto orden se infieran o calculen en base a variables de bajo orden. La hipótesis que maneja la teoría ecológica es que las variables de alto orden se detectan como unidades básicas, sin descomponerlas en variables de bajo orden. Imaginemos el caso de un objeto acercándose, intuitivamente pensaríamos que calculamos la distancia y la velocidad del objeto para determinar el momento en el cual este nos impactaría, ¿pero es este realmente el modo en el que actúa nuestro cerebro?, ¿no seremos capaces en determinar directamente el tiempo de contacto como una variable de alto orden presente en el entorno?, por ejemplo, determinar directamente la relación entre el tamaño del objeto y la tasa de crecimiento. También cabe preguntarse si todas estas suposiciones son válidas para estimulaciónes a través de los receptores táctiles en la piel. El dispositivo desarrollado está conformado por 13 módulos cada uno de los cuales maneja 6 tactores o vibradores, para hacer un total de 78 vibradores (ampliables al agregar módulos adicionales), cada uno de los tactores tiene 8mm de diámetro y proporciona información del flujo óptico asociado al entorno que rodea al usuario a través de información táctil, él mismo puede ser utilizado inalámbricamente a pesar de que el procesamiento de los datos se este realizando en una computadora de mesa, lo cual es muy útil al trabajar con ambientes virtuales. También se presenta la integración de la interfaz con el sistema operativo de robots ROS para usarlo en conjunto con las librerías que han sido desarrolladas para el control de la cámara Microsoft Kinect con la cual se puede obtener una matriz de distancias de puntos en el espacio, permitiendo de esta manera utilizar la interfaz en ambientes reales. Finalmente se realizaron experimentos para comprobar hipótesis sobre la variable de percepción del tiempo de contacto además de verificar el correcto funcionamiento del dispositivo de sustitución sensorial tanto en ambientes reales como en ambientes simulados así como comprobar hipótesis sobre la validéz del uso del flujo vibrotáctil para la determinación del tiempo de contacto.

A new approach to a model of the mammalian retina with optically programmable logic cells

This paper reports a model of the mammalian retina as well as an interpretation of some functions of the visual cortex. Its main objective is to simulate some of the behaviors observed at the different retina cells depending on the characteristics of the light impinging onto the photoreceptors. This simulation is carried out with a simple structure employed previously as basic building block of some optical computer architectures. Its possibility to perform any type of Boolean function allows a wide range of behaviors.

A model of amacrine and ganglion cells for optical information processing

Based on a previously reported logic cell structure (see SPIE, vol. 2038, p. 67-77, 1993), the two types of cells present at the inner and ganglion cell layers of the vertebrate retina and their intracellular response, as well as their connections with each other, have been simulated. These cells are amacrines and ganglion cells. The main scheme of the authors' configuration is shown in a figure. These two types of cells, as well as some of their possible interconnections, have been implemented with the authors' previously reported optical-processing element. As it has been shown, the authors' logic structure is able to process two optical input binary signals, being the output two logical functions. Moreover, if a delayed feedback from one of the two possible outputs to one or both of the inputs is introduced, a very different behaviour is obtained. Depending on the value of the time delay, an oscillatory output can be obtained from a constant optical input signal. Period and length pulses are dependent on delay values, both external and internal, as well as on other control signals. Moreover, a chaotic behaviour can be obtained too under certain conditions

A model of the mammalian retina and the visual cortex. Disorders of vision

A model of the mammalian retina and the behavior of the first layers in the visual cortex is reported. The building blocks are optically programmable logic cells. A model of the retina, similar to the one reported by Dowling (1987) is presented. From the model of the visual cortex obtained, some types of symmetries and asymmetries are possible to be detected

Image processing based on a model of the mammalian retina

A first study in order to construct a simple model of the mammalian retina is reported. The basic elements for this model are Optical Programmable Logic Cells, OPLCs, previously employed as a functional element for Optical Computing. The same type of circuit simulates the five types of neurons present in the retina. Different responses are obtained by modifying either internal or external connections. Two types of behaviors are reported: symmetrical and non-symmetrical with respect to light position. Some other higher functions, as the possibility to differentiate between symmetric and non-symmetric light images, are performed by another simulation of the first layers of the visual cortex. The possibility to apply these models to image processing is reported.

Unattended motion detection system based on the mammalian retina

Sensing systems in living bodies offer a large variety of possible different configurations and philosophies able to be emulated in artificial sensing systems. Motion detection is one of the areas where different animals adopt different solutions and, in most of the cases, these solutions reflect a very sophisticated form. One of them, the mammalian visual system, presents several advantages with respect to the artificial ones. The main objective of this paper is to present a system, based on this biological structure, able to detect motion, its sense and its characteristics. The configuration adopted responds to the internal structure of the mammalian retina, where just five types of cells arranged in five layers are able to differentiate a large number of characteristics of the image impinging onto it. Its main advantage is that the detection of these properties is based purely on its hardware. A simple unit, based in a previous optical logic cell employed in optical computing, is the basis for emulating the different behaviors of the biological neurons. No software is present and, in this way, no possible interference from outside affects to the final behavior. This type of structure is able to work, once the internal configuration is implemented, without any further attention. Different possibilities are present in the architecture to be presented: detection of motion, of its direction and intensity. Moreover, some other characteristics, as symmetry may be obtained.

Finite element code-based modeling of a multi-feature isolation system and passive alleviation of possible inner pounding

The existing seismic isolation systems are based on well-known and accepted physical principles, but they are still having some functional drawbacks. As an attempt of improvement, the Roll-N-Cage (RNC) isolator has been recently proposed. It is designed to achieve a balance in controlling isolator displacement demands and structural accelerations. It provides in a single unit all the necessary functions of vertical rigid support, horizontal flexibility with enhanced stability, resistance to low service loads and minor vibration, and hysteretic energy dissipation characteristics. It is characterized by two unique features that are a self-braking (buffer) and a self-recentering mechanism. This paper presents an advanced representation of the main and unique features of the RNC isolator using an available finite element code called SAP2000. The validity of the obtained SAP2000 model is then checked using experimental, numerical and analytical results. Then, the paper investigates the merits and demerits of activating the built-in buffer mechanism on both structural pounding mitigation and isolation efficiency. The paper addresses the problem of passive alleviation of possible inner pounding within the RNC isolator, which may arise due to the activation of its self-braking mechanism under sever excitations such as near-fault earthquakes. The results show that the obtained finite element code-based model can closely match and accurately predict the overall behavior of the RNC isolator with effectively small errors. Moreover, the inherent buffer mechanism of the RNC isolator could mitigate or even eliminate direct structure-tostructure pounding under severe excitation considering limited septation gaps between adjacent structures. In addition, the increase of inherent hysteretic damping of the RNC isolator can efficiently limit its peak displacement together with the severity of the possibly developed inner pounding and, therefore, alleviate or even eliminate the possibly arising negative effects of the buffer mechanism on the overall RNC-isolated structural responses.

Functions of the two glutamate transporters GLAST and GLT-1 in the retina

In the retina, the glutamate transporter GLAST is expressed in Müller cells, whereas the glutamate transporter GLT-1 is found only in cones and various types of bipolar cells. To investigate the functional role of this differential distribution of glutamate transporters, we have analyzed GLAST and GLT-1 mutant mice. In GLAST-deficient mice, the electroretinogram b-wave and oscillatory potentials are reduced and retinal damage after ischemia is exacerbated, whereas GLT-1-deficient mice show almost normal electroretinograms and mild increased retinal damage after ischemia. These results demonstrate that GLAST is required for normal signal transmission between photoreceptors and bipolar cells and that both GLAST and GLT-1 play a neuroprotective role during ischemia in the retina.

Retinoic acid has light-adaptive effects on horizontal cells in the retina

Ambient light conditions affect the morphology of synaptic elements within the cone pedicle and modulate the spatial properties of the horizontal cell receptive field. We describe here that the effects of retinoic acid on these properties are similar to those of light adaptation. Intraorbital injection of retinoic acid into eyes of dark-adapted carp that subsequently were kept in complete darkness results in the formation of numerous spinules at the terminal dendrites of horizontal cells, a typical feature of light-adapted retinae. The formation of these spinules during light adaptation is impaired in the presence of citral, a competitive inhibitor of the dehydrogenase responsible for the generation of retinoic acid in vivo. Intracellularly recorded responses of horizontal cells from dark-adapted eyecup preparations superfused with retinoic acid reveal typical light-adapted spatial properties. Retinoic acid thus appears to act as a light-signaling modulator. Its activity appears not to be at the transcriptional level because its action was not blocked by actinomycin.

Stable and efficient gene transfer into the retina using an HIV-based lentiviral vector

The development of methods for efficient gene transfer to terminally differentiated retinal cells is important to study the function of the retina as well as for gene therapy of retinal diseases. We have developed a lentiviral vector system based on the HIV that can transduce terminally differentiated neurons of the brain in vivo. In this study, we have evaluated the ability of HIV vectors to transfer genes into retinal cells. An HIV vector containing a gene encoding the green fluorescent protein (GFP) was injected into the subretinal space of rat eyes. The GFP gene under the control of the cytomegalovirus promoter was efficiently expressed in both photoreceptor cells and retinal pigment epithelium. However, the use of the rhodopsin promoter resulted in expression predominantly in photoreceptor cells. Most successfully transduced eyes showed that photoreceptor cells in >80% of the area of whole retina expressed the GFP. The GFP expression persisted for at least 12 weeks with no apparent decrease. The efficient gene transfer into photoreceptor cells by HIV vectors will be useful for gene therapy of retinal diseases such as retinitis pigmentosa.

Identification and characterization of a conserved family of protein serine/threonine phosphatases homologous to Drosophila retinal degeneration C (rdgC)

The Drosophila retinal degeneration C (rdgC) gene encodes an unusual protein serine/threonine phosphatase in that it contains at least two EF-hand motifs at its carboxy terminus. By a combination of large-scale sequencing of human retina cDNA clones and searches of expressed sequence tag and genomic DNA databases, we have identified two sequences in mammals [Protein Phosphatase with EF-hands-1 and 2 (PPEF-1 and PPEF-2)] and one in Caenorhabditis elegans (PPEF) that closely resemble rdgC. In the adult, PPEF-2 is expressed specifically in retinal rod photoreceptors and the pineal. In the retina, several isoforms of PPEF-2 are predicted to arise from differential splicing. The isoform that most closely resembles rdgC is localized to rod inner segments. Together with the recently described localization of PPEF-1 transcripts to primary somatosensory neurons and inner ear cells in the developing mouse, these data suggest that the PPEF family of protein serine/threonine phosphatases plays a specific and conserved role in diverse sensory neurons.

In vivo zippering of inner and outer mitochondrial membranes by a stable translocation intermediate

It was previously assumed that the import of cytoplasmically synthesized precursor proteins into mitochondria occurs through a single structure spanning both outer and inner membranes at contact sites. Based on recent findings, however, the two membranes appear to contain independent translocation elements that reversibly cooperate during protein import. This feature makes it difficult to generate a means of isolating a fully integrated and functional translocation complex. To study these independent translocases in vitro and in vivo, we have constructed a chimeric protein consisting of an N-terminal authentic mitochondrial precursor (delta1-pyrroline-5-carboxylate dehydrogenase) linked, through glutathione S-transferase, to IgG binding domains derived from staphylococcal protein A. This construct becomes trapped en route to the matrix, spanning both outer and inner membranes in such a way that the entire signal-less delta1-pyrroline-5-carboxylate dehydrogenase moiety reaches the matrix, while only the folded protein A domain remains outside. During in vivo import of this precursor, outer and inner membranes of yeast mitochondria become progressively “zippered” together, forming long stretches of close contact. Using this novel intermediate, the outer and inner mitochondrial membrane channels, which normally interact only transiently, can be tightly joined (both in vitro and in vivo), forming a stable association. This suggests a method for isolating the functional translocation complex as a single entity.

The dimensions of the protein import channels in the outer and inner mitochondrial membranes

Most mitochondrial proteins are imported into mitochondria through transmembrane channels composed largely, and perhaps exclusively, of proteins. We have determined the effective internal diameter of the protein import channel in the mitochondrial outer membrane to be between 20 Å and 26 Å during translocation. The diameter of the import channel in the inner membrane is smaller than the diameter of the outer membrane import channel. These results were obtained by measuring the effect of rigid steric bulk introduced into precursor proteins on import.

An alternative pathway for rod signals in the rodent retina: Rod photoreceptors, cone bipolar cells, and the localization of glutamate receptors

In the mammalian retina, extensive processing of spatiotemporal and chromatic information occurs. One key principle in signal transfer through the retina is parallel processing. Two of these parallel pathways are the ON- and OFF-channels transmitting light and dark signals. This dual system is created in the outer plexiform layer, the first relay station in retinal signal transfer. Photoreceptors release glutamate onto ON- and OFF-type bipolar cells, which are functionally distinguished by their postsynaptic expression of different types of glutamate receptors, namely ionotropic and metabotropic glutamate receptors. In the current concept, rod photoreceptors connect only to rod bipolar cells (ON-type) and cone photoreceptors connect only to cone bipolar cells (ON- and OFF-type). We have studied the distribution of (RS)-α-amino-3-hydroxy-5-methyl-4-isoxazolepropionic acid (AMPA) glutamate receptor subunits at the synapses in the outer plexiform layer of the rodent retina by immunoelectron microscopy and serial section reconstruction. We report a non-classical synaptic contact and an alternative pathway for rod signals in the retina. Rod photoreceptors made synaptic contact with putative OFF-cone bipolar cells that expressed the AMPA glutamate receptor subunits GluR1 and GluR2 on their dendrites. Thus, in the retina of mouse and rat, an alternative pathway for rod signals exists, where rod photoreceptors bypass the rod bipolar cell and directly excite OFF-cone bipolar cells through an ionotropic sign-conserving AMPA glutamate receptor.